RU2760823C1 - Experimental marine modular complex - Google Patents

Abstract

FIELD: shipping industry.

SUBSTANCE: invention relates to automatic means of controlling vessels, as well as to solutions for monitoring indicators or operational parameters of vessels during operation, in particular for controlling the operation of vessels, for example, for monitoring their speed, course using models or simulation, for example statistical or stochastic models, and can be used in experiments on the introduction of technologies for unmanned (autonomous) navigation, including in real life. The technical objective of the invention is to simplify and reduce the cost of studying the problems of identification and management of vessels with coastal remote control support. The auto pilot located on the shore module generates control actions on the controls of a small-sized experimental vessel based on data processed using a computer of higher performance compared to the microcontroller installed on board the vessel, which ensures accuracy, reliability and speed of automatic control of the vessel along the trajectory.

EFFECT: placement of the auto pilot as part of the shore module provides the faster formation of more accurate control actions on the control facilities of a small-sized experimental vessel.

1 cl, 5 dwg, 1 tbl

Description

The invention relates to technical means for remote and autonomous control of ships, as well as solutions for monitoring indicators or operational parameters of ships during operation, in particular for monitoring the operation of ships, for example, for monitoring their speed, course using models or simulation, such as statistical or stochastic models, and can be used in experiments on the introduction of technologies for unmanned navigation.

In the field of navigation, the study of the problems of identification and control of ships is associated with an extensive amount of data obtained as a result of a complex of maneuvers, such as "zigzag", "spiral", etc., which often turns out to be inaccessible to the researcher due to the high cost of operating the vessel. and the unwillingness of the ship owner or charterer to provide the vessel for scientific research. It is advisable to carry out such studies on small-sized remotely controlled marine mobile objects. Hence, it becomes necessary to create small-sized simulator vessels in compliance with the scale factors of the production vessel and its main dynamic and kinematic parameters for further research of identification and control algorithms, with coastal remote control support.

Known by RF patent No. 153610 for a useful model "Research model of a vessel", IPC В63В 9/02, G01M 10/00, publ. 07/27/2015. The research model is designed to investigate the parameters and characteristics of ships. The technical result of this solution is the elimination of the difficult to take into account the effect of elastic casing, which isolates the moving parts of the model from water, on the accuracy of measurements of the parameters of the model during research, and thereby increases the accuracy of measurements. The technical result is achieved by the fact that the developed solution uses separate floating compartments, interconnected by elastic elements. This model solves a particular problem - the elimination of the difficult to take into account the influence of elastic sheathing.

It is known from the RF patent for utility model No. 153109, IPC В63В 38/00, publ. 10.07.2015, "Research vessel with an onboard research control center." This vessel includes onboard and coastal control centers and is, in fact, a complex that provides automated collection, processing and display of scientific information, information between ships, coastal scientific institutes, monitoring centers and a situational center, however, it is not intended to solve the problem of the claimed utility model ...

Known for the RF patent for utility model No. 188836 "Unmanned guided boat", IPC B63G 7/00, B63V 21/24, publ. 04.24.2019. This solution relates to the field of shipbuilding, namely, to unmanned floating craft, intended primarily for performing search and research tasks. The technical result from the use of this utility model lies in the possibility of an emergency anchoring of the vessel when the power supply is cut off. The unmanned guided boat is made in the form of a hull with a diesel-electric complex, a remote control system, observation, collection and storage of information. This model solves a particular problem - emergency anchoring when the power supply is cut off.

Known for the RF patent for utility model No. 172135, IPC G09B 9/06, publ. 06/29/2017 "Simulation system for the management of search and rescue operations using marine robotic technological systems." The utility model relates to information modeling systems and can be used to study the management of search and rescue operations using marine robotic technological systems.

Known for the RF patent for utility model No. 181258, IPC G06F 15/18, publ. 07/06/2018 "Expert decision support system for the management of a marine robotic technological complex." This system can be used to make decisions on the management of a marine robotic technological complex. The device includes control subsystems, exchange with data sources, processing and analysis, information display, data bank, data exchange subsystem. This system, like the previous one, allows you to solve many problems, including overcoming emergency situations, but is not designed to provide automatic guidance of surface objects.

Known for the RF patent for utility model No. 108667, IPC G06F 17/00, publ. 09/20/2011 "Hardware and software complex to ensure the issuance of recommendations to skippers and operators of ship traffic control systems to minimize damage in case of inevitable collision of objects of maritime activities." This complex includes an input-output device, a data storage device, a data processing device and a visualization device connected by means of communication.

It differs in that the data processing device contains, connected by means of communication, a device for synthesizing the virtual state of an object of marine activity and a device for selecting the optimal solution. The complex predicts the possibility of collision of ships, but is not intended for accurate pilotage of the ship.

Known for the RF patent for invention No. 2741669, IPC B63N 25/04, publ. 28.01.2021.

"The system of coordinated control of the movement of the vessel in the modes of automatic and remote control." The system for coordinated control of the ship's movement in automatic and remote control modes contains a control adaptation and stabilization unit at low speeds, a control and stabilization unit at low speeds, a control and stabilization adaptation unit at a speed of more than four knots, a control and stabilization unit at a speed of more than four nodes, a block for processing navigation information, a block for simulating the movement of a vessel at low speeds, a block for simulating the movement of a vessel at a speed of more than four knots, a control and management unit, a block for measuring parameters of movement, a block of control objects, an autonomous navigation system, a survey-search system and a coastal post connected in a certain way. Expansion of the functionality of the coordinated control of the movement of the vessel in the entire range of its speeds is provided. The system is complex for conducting experiments on ship control.

As a prototype, the RF patent for a useful model No. 198953, IPC В63В 39/00, publ. 08/04/2020 "Device for determining the parameters of the movement of the vessel." This useful model relates to shipbuilding, namely, to experimental means for determining the parameters of the movement of ships in various meteorological conditions, and can be used for maneuvering and sea trials of surface ships, including unmanned and autonomous ones. The proposed utility model solves the problem of increasing the accuracy of determining the parameters of the ship's movement during sea and maneuvering tests by taking into account and registering the influence of meteorological factors. The device contains an antenna module connected to the multi-antenna receiving equipment of satellite navigation systems, an inertial measuring module, the first input of which is connected to the output of the multi-antenna receiving equipment of satellite navigation systems, the second input to the output of the control computer, and the output to the recording equipment. Additionally, the device includes a meteorological station connected to the third input of the inertial measuring module. This useful model solves the problem of determining the parameters of the ship's movement in various meteorological conditions. The disadvantage of this device is due to its complex design.

The technical objective of the invention is to simplify and reduce the cost of researching the problems of identification and control of ships with shore-based remote control.

To achieve the set technical task, an experimental marine modular complex is proposed, which includes a surface mobile module and a coastal module, in which the mobile module is made in the form of a small-sized experimental vessel, with an onboard engine, batteries for the engine and electronic equipment, a rudder blade servo, a kinematic collection system. and navigation information on the vessel and communication device, and the coastal module contains a computer-based display and remote control system, DIFFERENT in that the display and remote control system contained in the coastal module includes data collection, storage, filtration and analysis units, coastal a communication device, a graphical interface, a block for constructing and identifying a mathematical model of the ship's movement, a block for setting the trajectory of movement and a manual control block with software developed on the MATLAB platform, a data filtering block, a compass and GPS correction block, while , the display and remote control system includes an autopilot and the formation of control actions by the autopilot is performed on the coastal module, and the kinematic and navigation information collection system located on board a small-sized experimental vessel contains an Arduino microcontroller with software developed on the Arduino platform (C ++), a marine communication device, a complex of sensors: a gyroscopic sensor and an accelerometer, an Earth magnetic field sensor, a GPS sensor, a propeller shaft speed sensor, while the surface mobile module and the coastal module interact through appropriate communication devices, and the communication devices of the coastal and mobile modules are made with the possibility of using Wi-Fi frequencies for data exchange via TCP-IP protocol. In addition, the experimental marine modular complex is DIFFERENT in that the control of software platforms located on the surface mobile and coastal modules is carried out by means of the software package "Interface for indication and control of a marine autonomous mobile object with one or two propulsion and steering complexes", registered in FIPS, No. 2021612609 RU dated 02.19.2021 Copyright holder: Federal State Budgetary Educational Institution of Higher Education "State Maritime University named after Admiral F.F. Ushakova "(RU), authors Burylin Ya.V., Kondratyev A.I., Popov A.N. The pilot marine modular complex is DIFFERENT in that the small-sized experimental vessel has a length of 1.2 m, a width of 0.2 m, a side height of 0.1 m, and a draft of 0.04 m.

The technical result consists in the fact that the autopilot located on the coastal module generates control actions on the control means of a small-sized experimental vessel based on data processed using a computer of high power, compared to the microcontroller installed on board the vessel, which ensures accuracy, reliability and speed automatic control of the ship along the trajectory.

The technical result is achieved by using a set of both restrictive and distinctive features of the proposed complex, architecture for constructing interface protocols and algorithms for the operation of the complex.

The protocol is designed in such a way that the transfer of kinematic and navigation data on the vessel to the coastal module, control signals from the coastal to the mobile one. The interface contains an algorithm for filtering kinematic data and a PID - a controller that generates control actions on the ship.

The essence of the invention is as follows.

The design solution of the experimental complex in the form of surface and coastal modules expands its functional and research capabilities.

Creation of a small-sized experimental vessel with an interface allows collecting, processing, analyzing kinematic and navigational information on the vessel and using the obtained data for automatic control of the vessel along the trajectory and manual control of the vessel, building mathematical models of the vessel's movement.

The placement of the autopilot as part of the display and remote control system on the coastal module ensures the formation of control actions on the controls of a small-sized experimental vessel based on data processed using a computer of high power compared to the microcontroller installed on board the vessel, which ensures accuracy, reliability and the speed of automatic control of the vessel along the trajectory.

A system for collecting kinematic and navigational information, containing an Arduino microcontroller with software developed on the Arduino platform (C ++), ensures the operation of sensors: GPS, gyroaccelerometer, Earth's magnetic field, engine speed; one or two motors, one or two rudder stock servos, Wi-Fi module.

Using the Wi-Fi unit makes it possible to use a variety of mobile devices without additional costs for completing the coastal module with communication devices; allows the use of a secure data transfer protocol.

The pilot marine modular complex allows:

- to work out the principles of constructing mathematical models of a ship based on the movement of a real marine moving object, without using cargo or passenger ships, significantly reducing the cost of scientific research;

- to train remote vessel operators for e-navigation purposes;

- to synthesize, debug and test automatic control systems for sea vessels;

- to reduce the costs of the microcontroller of the mobile unit due to the fact that the information processing and the autopilot operation are performed by the coastal module's capacities, due to which the accuracy, speed and reliability of control actions calculations increases;

- connection via TCP-IP protocols is secure and can guarantee the prevention of interception or interference of control from extraneous radio signals.

The implementation of a small-sized experimental vessel with a length of 1.2 m, a width of 0.2 m, a side height of 0.1 m and a draft of 0.04 m ensures the maximum achievement of the technical result.

The essence of the invention is illustrated by graphic materials, which depict:

FIG. 1 - Composition of OMMC.

FIG. 2 - Maneuver of keeping the vessel on the trajectory.

FIG. 3 - The first page of the interface.

FIG. 4 - The second page of the interface.

FIG. 5 - The third page of the interface.

The proposed experimental marine modular complex (OMMK) is built as follows.

A schematic diagram of the construction of a small-sized experimental vessel is shown in Fig. one.

The coastal module contains a data collection and storage unit 1, a Wi-Fi communication device 2, a computer with an installed display interface 3 and control of the mobile module, a unit for identifying a mathematical model of the ship's movement 4, blocks for setting and entering the trajectory of the ship's movement 5 and manual controls for the movement of the ship 6, a block for filtering kinematic data on the vessel 7, a block for entering corrections into the readings of a magnetic compass and GPS 8 graphic and digital displays, autopilot 9.

The surface module includes a small-sized experimental vessel, on board of which there is an Arduino microcontroller 10 with software developed on the Arduino platform (C ++), a communication device 11, a set of sensors: a gyroscopic sensor with an accelerometer 12, an Earth magnetic field sensor 13, a GPS sensor 14 , the propeller shaft speed sensor 15. The engine 16, the batteries 17 for the engine and electronic equipment, the rudder feather servo 18 are located on board the vessel.

The proposed OMMK works as follows.

After power is supplied to the systems 10-18 of the mobile module, the interrogation of the sensors and the collection of kinematic information on the vessel begins, the navigation information provided by the GPS sensor 14 becomes available a few minutes after the position of the vessel is determined. The communication device 11 of the mobile module creates a Wi-Fi access point with the functions of a secure connection server with a login and password for entering.

After connecting the coastal module via the operator interface via TCP-IP protocols to the server as a client, the exchange of data between the coastal and mobile modules begins. On the graphic and digital panels of the interface 3 of the coastal module, the converted available kinematic and navigation parameters for the vessel obtained from the mobile module are displayed, the manual control panel of the vessel 26, 27 is activated.

The operator can make a circulation in manual mode to build a deviation picture on the display 38 and, on its basis, correct the error from the influence of magnetic declination on the Earth's magnetic field sensor using input field 37. The operator can turn on the toggle switch 22 to collect all available information for its further analysis, including the number of construction of mathematical models of the movement of the ship. The operator can synchronize the data of the gyro sensor 12 with the magnetic 13 or GPS 14 to obtain the gyrocompass heading from the yaw angle of the vessel.

After setting the trajectory of automatic movement through the field 29 and switching the toggle switch 21 of the autopilot to the automatic mode of navigating the vessel, the autopilot 9 begins to generate control actions on the vessel in the form of the rudder blade shift angle and the rotor shaft speed depending on the kinematic and navigation data on the vessel, namely longitudinal and angular velocities, course, position relative to the given trajectory of movement and the given coefficients of the PID controller. The data on the control actions is transmitted to the mobile unit and converted by the controller into electrical signals to the rudder pen servo 18 and the electric motor 16 connected by the shaft to the propeller.

The vessel begins to maneuver according to the specified trajectory. The operator sees on the display board 28 how the ship is moving relative to a given trajectory, sees the nature of automatic control and can adjust the regulator by entering coefficients in real time through field 39. Having reached a predetermined distance to the end point of the trajectory, the ship stops, waiting for further operator actions.

FIG. 2 shows the automatic pilotage of the vessel under the control of the autopilot 6 along a predetermined trajectory from point 1 to point 2. As can be seen from FIG. 2, the proposed regulator successfully coped with the given trajectory, despite significant (up to 108 degrees) rotation angles. Insignificant unsystematic overshoots and a maneuver lag are observed, which indicates local disturbances of the water environment at the turning points, which are not taken into account by the regulator. There is a need for further experiments to adjust the regulator coefficients, adapt the filtering with a moving average depending on the nature of the movement, equip the ship with a bow thruster to dynamically hold the position when reaching the end or intermediate point of the trajectory, and refine the mathematical model of the ship's movement.

FIG. 3-5 presents a graphical display of the proposed interface, which can run independently of the MATLAB environment in the Windows operating system. The figures are continuously numbered by the callouts of the key control and display panels, a description of each of which is presented below.

The interface tabs panel 19 contains three tabs: “Conning”, “Plots”, “Advanced”. In the "Conning" tab there are controls and indication of the vessel's movement. In the “Plots” tab there is a field for displaying the graphs of changes in all kinematic parameters of the vessel available for measurement. The Advanced tab contains controls for advanced interface and autopilot settings.

The toggle switch 20 activates the connection of the platform on which the interface to the vessel is installed via the TCP-IP protocol. Upon successful connection, the indicator turns green.

Toggle switch 21 for switching control modes from manual to automatic and vice versa. When the "Autopilot" mode is on, the indicator turns green.

Toggle switch 22 enables and disables the recording of all measurable data on the vessel, interface and autopilot. When the Data Rec mode is on, the indicator turns green.

Toggle switch 23 turns on and off the synchronous control of the propulsion and steering complexes (DRC) of the vessel, if there is more than one such complex. When the "Conn Sync" mode is on, the indicator turns green.

Panel 24 for displaying the main kinematic parameters of the vessel:

- RPM-P - the number of revolutions per minute of the left or single shaft of the engine;

RPM-S - the number of revolutions per minute of the right shaft of the engine;

- RUDD_P — position of the left or single rudder blade in degrees;

- RUDD_S - position of the right rudder blade in degrees;

- ROT is the angular speed of the vessel in degrees per minute;

- MS - the value of the magnetic heading in degrees;

- SOG - value of speed relative to the ground in m / s;

- COG - true heading value in degrees;

- GYRO - gyrocompass heading value in degrees.

Graphic field 28 displaying the vector of the ship's speed, set and executed trajectories of the ship. The drop-down list for the "Duration" values allows you to change the number of displayed points of the executed trajectory depending on the time. Can take values: 10, 50, 100 seconds. The drop-down list for the "Vector Length" values allows you to change the length of the displayed vessel vector depending on time. It can take on values corresponding to the distance that the ship will travel in: 6, 12, 30, 60 seconds.

Panel 26 for manual control of the left or single DRC of the vessel. Includes a rotary knob with a travel range of -35 to 35 degrees to control the rudder blade position. Rotary toggle switch "discrete knob)) with the values: FAS, HAS, SAS, STOP, SAH, HAH, FAH, corresponding to the ship's engine operating modes, respectively: full reverse, medium reverse, low reverse, stop, full forward, medium forward travel, small forward travel. In case of discrepancy between the set value of the rudder pen position and the one practiced on the vessel, the indicator changes color from green to red. In the case of automatic control, the rotary regulator switches to the indication mode and shows the value of the rudder blade value being worked out on the vessel. In case of discrepancy between the programmed value of the rudder position set by the autopilot (“Pr. Rudder)), 25), the indicator color changes to red.

Panel 27 for manual control of the right propulsion and steering complex (DRC) of the vessel. It is arranged similarly to panel 26, except for the presence of a checkbox, the setting of which activates the panel and means that the vessel has two DRCs.

Panel 28 for displaying the main parameters of automatic ship control:

- Dist to NW - distance to the next waypoint of the trajectory in meters;

- Crs to NW - heading to the next waypoint of the trajectory in degrees;

- Next COG - course on the next leg of the trajectory in degrees;

- Next WP - number of the next waypoint;

- XTE - deviation of the vessel's position from the current trajectory shoulder in meters;

- DTG - distance along a given trajectory from the position of the vessel to the last point of a given trajectory in meters;

- Pr. Rudder is the programmed value of the ship's rudder position as generated by the autopilot.

- The "SKIP WP" button allows you to manually switch the next waypoint one way ahead.

Panel 29 for loading and entering the coordinates of the specified trajectory of the vessel. The drop-down list allows you to select one of the preset trajectories or select the "Custom" item, which activates the corresponding field for entering coordinates from the keyboard.

System information display panel 30:

- "Buffer Overflow: Flush" - flushing the stack buffer due to overflow;

- "REOPEN TCPIP: Server TimeOut" - connection reopening due to lack of response from the server;

- "REOPEN TCPIP: Closed by Server" —reopen the connection by the server;

- "SELECT TRACK" - an error occurs when the autopilot is turned on without a selected trajectory;

- "INPUT TPACK" - the error occurs when the autopilot is turned on without a manually set trajectory with the "Custom" item selected in the drop-down list of loaded trajectories.

Selection panel 31 by setting the corresponding checkboxes of the kinematic parameters of the vessel displayed on the graphical display field 32. The values of each parameter can be assigned an individual display scale. In addition to 14 and 28, the panel contains the following parameters:

- Roll - roll angle values in degrees;

- Pitch — values of the trim angle in degrees;

- Yaw - yaw angle values in degrees.

Graphic field 32 displaying kinematic and navigational parameters of the vessel, selected in 31 at a given scale in time. The drop-down list "Duration" allows you to set the period of time, the data for which will be displayed in the field. It can take the following values: 10, 50, 100, 500, 1000 seconds.

Panel 33 for indicating data received from the GPS transceiver and its status. In addition to 14, the following data is displayed:

- HDOP - Horizontal Dilution of Precision, decrease in the accuracy of the obtained coordinates of the vessel's position in the horizontal plane. Depending on the value, the "Signal Quality" indicator changes its color to red, yellow, blue, which corresponds to the unsatisfactory quality of accuracy, satisfactory and excellent;

- Sat. Num - the number of satellites based on the data from which the location coordinates are calculated;

- LAT - received latitude of the vessel in degrees and degrees - minutes - seconds;

- LON - received longitude of the vessel in degrees and degrees - minutes - seconds;

Panel 34 for entering an update into the received data of the coordinates of the position of the vessel in degrees.

Panel 35 for displaying data obtained from a module containing gyroscopic, inertial sensors and a sensor of the Earth's magnetic field. In addition to 14 and 31, the following data is displayed:

- ah, ay, az - longitudinal acceleration along the corresponding axes. In this case, the "x" axis is co-directed with the longitudinal axis of the vessel from the stern to the tank, the "y" axis is directed to the left of the diametrical plane of the vessel, the "z" axis is directed upward;

- magX, magY, magZ - components of the Earth's magnetic field along the corresponding axes. The axes are directed as in 36;

- quatR, quatI, quatJ, quatK - components of the quaternion describing the ship's orientation in space.

Panel 36 initializing synchronization of the yaw angle of the vessel with the values of the magnetic or true (obtained from GPS) headings of the vessel to obtain a gyrocompass heading.

Panel 37 for entering a correction into the values of the horizontal components of the Earth's magnetic field to compensate for the local magnetic declination, in millitesla.

Graphical field 38 displays the deviation pattern of the Earth's magnetic field sensor in millitesla. Designed to detect and eliminate the influence of magnetic declination.

Panel 39 for input of parameters of the autopilot component at the heading:

- P, I, D - coefficients of proportional, integral and differential terms, respectively;

- Fd - parameter of the moving average filter.

Panel 40 for input of parameters of the component of the autopilot along the trajectory: similar to 39.

Panel 41 input of parameters of the ship and communication module:

- Turn Radius - radius of the vessel's steady circulation;

- Tr end Dist - distance to the final point of the trajectory at which it is necessary to stop the ship's engine during automatic control;

- Buffer size — size of the communication buffer in bytes;

- Time Out — time when there was no response from the server, after which the connection was reopened;

- Send Rate — frequency of sending data to the ship per second.

Communication data display panel 42:

- Bytes available - The number of received data in the buffer in bytes;

- LengthRX — length of the received data line in number of characters;

- TX - line of data transmitted to the ship;

- Clock - the duration of the uninterrupted connection in minutes - seconds;

- Time Out — time when there was no response from the server in seconds;

- String RX - data string received from the vessel,

and the formation of control actions by the autopilot is carried out on the coastal module, and the communication devices of the coastal and mobile modules use Wi-Fi frequencies for data exchange using the TCP-IP protocol.

EXAMPLE OF PRACTICAL IMPLEMENTATION OF OMMK

The OMMK scheme includes the following main technical elements:

- The Arduino ATmega 2560 microcontroller is designed to control the operation of sensors and the communication module, collect data from sensors, process data from sensors and transmit them to the communication module, receive data on control actions through the communication module, transfer data on control actions to the electric motor control relay;

- The ESP8266 Wi-Fi transceiver is designed for remote data exchange between the operator and the vessel and operates in the network server mode, in turn, the vessel operator module works as a client. Provides client access through network authentication;

- Motor Shield L298P is designed to control the motors of the main propeller and the servos of the rudder of the ship. Protects the electronics of the microprocessor from the flow of high currents through its power supply units. Able to control simultaneously four electric motors and two servos, which makes it possible with the help of one device to create a ship in two propulsion and steering complexes and two thrusters;

- The JGA25-370 electric motor with a 1000 rpm gearbox is designed to supply torque to the ship's propeller shaft. With a diameter of four blades of 4.5 centimeters, it allows the vessel to develop a speed of 1 m / s;

- Servo MG996R is designed to supply torque to the rudder stock and provides rudder travel up to 35 degrees on each side of the vessel;

- Lithium polymer batteries to provide power to the system. A 7.4 V battery is designed to power the microcontroller, sensors and steering servo, an 11.1 V battery is used to power the electric motor via the Motor Shield. The vessel is additionally provided with a device for measuring the residual charge of the batteries;

- The propeller shaft revolution sensor RPM meter F249 is designed to measure the number of propeller shaft revolutions per minute;

- Gyroscopic, inertial, magnetic sensor BNO080, designed to measure longitudinal and angular accelerations along three coordinate axes and components of the Earth's magnetic field along coordinate axes, generates the values of the angular velocities of the vessel along the coordinate axes, the values of the real coefficients of the ship orientation quaternion;

- GPS sensor GY-NE06MV2, designed to receive the current geographic coordinates of the vessel's location, HDOP indicator, the number of visible navigation satellites, the course and speed of the vessel relative to the ground.

The technical characteristics of the components of the mobile module are shown in the table:

Claims (2)

1. Experimental marine modular complex, including a surface mobile module and a coastal module, in which the mobile module is made in the form of a small-sized experimental vessel, with an onboard engine, batteries for the engine and electronic equipment, a rudder servo drive, a system for collecting kinematic and navigation information on a ship and a communication device, and the coastal module contains a computer-based indication and remote control system, characterized in that the indication and remote control system contained in the coastal module includes data collection, storage, filtration and analysis units, a coastal communication device, graphic interface, block for constructing and identifying a mathematical model of the ship's motion, a block for setting the trajectory of movement and a manual control block with software developed on the MATLAB platform, a data filtering block, a compass and GPS correction unit, while in the display system and remote control Ia includes the autopilot and the formation of control actions by the autopilot is performed on the coastal module, and the kinematic and navigation information collection system located on board the small-sized experimental vessel contains an Arduino microcontroller with software developed on the Arduino platform (C ++), a marine communication device, a set of sensors: a gyroscopic sensor and an accelerometer, an Earth magnetic field sensor, a GPS sensor, a propeller shaft speed sensor, while the surface mobile module and the coastal module interact through appropriate communication devices, and the communication devices of the coastal and mobile modules are configured to use Wi-Fi frequencies for data exchange over the TCP-IP protocol. 2. Experimental marine modular complex according to claim 1, characterized in that the small-sized experimental vessel has a length of 1.2 m, a width of 0.2 m, a side height of 0.1 m, and a draft of 0.04 m.

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